Related papers: EBIF: Exact Bilinearization Iterative Form for Con…

We present a method that connects a well-established nonlinear (bilinear) identification method from time-domain data with neural network (NNs) advantages. The main challenge for fitting bilinear systems is the accurate recovery of the…

Accurate extrinsic sensor calibration is essential for both autonomous vehicles and robots. Traditionally this is an involved process requiring calibration targets, known fiducial markers and is generally performed in a lab. Moreover, even…

In this paper, we develop a framework for solving inverse deformation problems using the FEniCS Project finite element software. We validate our approach with experimental imaging data acquired from a soft silicone beam under gravity. In…

A novel adaptive control approach is proposed to solve the globally asymptotic state stabilization problem for uncertain pure-feedback nonlinear systems which can be transformed into the pseudo-affine form. The pseudo-affine pure-feedback…

This article presents an identification methodology to capture general relationships, with application to piecewise nonlinear approximations of model predictive control for constrained (non)linear systems. The mathematical formulation…

Planning trajectories for nonholonomic systems is difficult and computationally expensive. When facing unexpected events, it may therefore be preferable to deform in some way the initially planned trajectory rather than to re-plan entirely…

Modern equality saturation systems excel at expression-level rewrites by exploring large spaces of equivalent programs without suffering from the phase-ordering problem. How- ever, these systems struggle to represent equivalence directly…

This work presents a robust and efficient sharp interface immersed boundary (IBM) framework, which is applicable for all-speed flow regimes and is capable of handling arbitrarily complex bodies (stationary or moving). The work deploys an…

We consider linear systems arising from the use of the finite element method for solving scalar linear elliptic problems. Our main result is that these linear systems, which are symmetric and positive semidefinite, are well approximated by…

This paper examines a broadly applicable triangular normal form for x-flat control-affine systems with two inputs. First, we show that this triangular form encompasses a wide range of established normal forms. Next, we prove that any x-flat…

Numerous tasks at the core of statistics, learning and vision areas are specific cases of ill-posed inverse problems. Recently, learning-based (e.g., deep) iterative methods have been empirically shown to be useful for these problems.…

This paper presents a secure safety filter design for nonlinear systems under sensor spoofing attacks. Existing approaches primarily focus on linear systems which limits their applications in real-world scenarios. In this work, we extend…

There is a growing interest in data-driven control of nonlinear systems over the last years. In contrast to related works, this paper takes a step back and aims to solve the output matching problem, a problem closely related to the…

Whenever we use devices to take measurements, calibration is indispensable. While the purpose of calibration is to reduce bias and uncertainty in the measurements, it can be quite difficult, expensive, and sometimes even impossible to…

We give polynomial-time algorithms for the exact computation of lowest-energy (ground) states, worst margin violators, log partition functions, and marginal edge probabilities in certain binary undirected graphical models. Our approach…

The immersed boundary-finite element method (IBFE) is an approach to describing the dynamics of an elastic structure immersed in an incompressible viscous fluid. In this formulation, there are discontinuities in the pressure and viscous…

This paper presents a lowest-order immersed Raviart-Thomas mixed triangular finite element method for solving elliptic interface problems on unfitted meshes independent of the interface. In order to achieve the optimal convergence rates on…

We present a novel Front-Tracking method, the Edge-Based Interface Tracking (EBIT) method for multiphase flow simulations. In the EBIT method, the markers are located on the grid edges and the interface can be reconstructed without storing…

This paper presents a low-complexity, model-free, output-feedback controller for a class of unknown time-varying nonlinear systems with unknown input constraints. The controller achieves the preset control accuracy when the actuator is not…

In this paper, we propose a novel Control Barrier Function (CBF) based controller for nonlinear systems with complex, time-varying input constraints. To deal with these constraints, we introduce an auxiliary control input to transform the…